amiro-os / devices / DiWheelDrive / linefollow2.cpp @ 25388c2f
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| 1 | c76baf23 | Georg Alberding | #include "global.hpp" |
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| 2 | #include "linefollow2.hpp" |
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| 3 | 2330e415 | Georg Alberding | #include <cmath> |
| 4 | c76baf23 | Georg Alberding | |
| 5 | |||
| 6 | void LineFollow::printSensorData(){
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| 7 | chprintf((BaseSequentialStream*) &SD1, "Test!");
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| 8 | } |
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| 9 | |||
| 10 | 25388c2f | Georg Alberding | // void LineFollow::followLine(int vcnl4020Proximity[4], int (&rpmFuzzyCtrl)[2], Global *global){
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| 11 | 2330e415 | Georg Alberding | |
| 12 | 25388c2f | Georg Alberding | // chprintf((BaseSequentialStream*) &SD1, "SP: %d,\n", SetPoint);
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| 13 | 2330e415 | Georg Alberding | |
| 14 | 25388c2f | Georg Alberding | // // chprintf((BaseSequentialStream*) &SD1, "Proximity: WL:0x%04X FL:0x%04X FR:0x%04X WR:0x%04X\n",
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| 15 | // // vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_LEFT],
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| 16 | // // vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT],
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| 17 | // // vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT],
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| 18 | // // vcnl4020Proximity[constants::DiWheelDrive::PROX_WHEEL_RIGHT]);
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| 19 | // // global->motorcontrol.printGains();
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| 20 | // // chprintf((BaseSequentialStream*) &SD1, "Speed -- Left: %d, Right: %d\n", global->motorcontrol.getCurrentRPMLeft(), global->motorcontrol.getCurrentRPMRight());
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| 21 | |||
| 22 | |||
| 23 | // // float speedL = global->motorcontrol.getCurrentRPMLeft();
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| 24 | // // float speedR = global->motorcontrol.getCurrentRPMRight();
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| 25 | // // chprintf((BaseSequentialStream*) &SD1, "After motor request SP: %f,\n", SetPoint);
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| 26 | // // Process value
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| 27 | // float processV = static_cast< float >((vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] + vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]));
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| 28 | // // chprintf((BaseSequentialStream*) &SD1, "PV: %f,\n", processV);
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| 29 | // // chprintf((BaseSequentialStream*) &SD1, "After PV SP: %f,\n", SetPoint);
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| 30 | // float error = SetPoint - processV;
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| 31 | // float d_term = old_error - error;
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| 32 | // // chprintf((BaseSequentialStream*) &SD1, "After Error SP: %f,\n", SetPoint);
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| 33 | // // chprintf((BaseSequentialStream*) &SD1, "Error: %f,\n", error);
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| 34 | // acc_sum = 0.5 * acc_sum + error;
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| 35 | // int correctionSpeed = static_cast< int >(Kp * error + Ki*acc_sum + Kd*d_term);
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| 36 | // old_error = error;
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| 37 | // chprintf((BaseSequentialStream*) &SD1, "Error: %f,\n", error);
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| 38 | // chprintf((BaseSequentialStream*) &SD1, "Dterm: %f,\n", d_term);
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| 39 | // chprintf((BaseSequentialStream*) &SD1, "Iterm: %f,\n", acc_sum);
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| 40 | // chprintf((BaseSequentialStream*) &SD1, "New Speed: %d,\n", correctionSpeed);
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| 41 | // // chprintf((BaseSequentialStream*) &SD1, "New Speed: %f, Sum: %f, SP: %f, processV: %f, K_p: %f, K_i: %f \n", correctionSpeed, acc_sum, SetPoint, processV, Kp, Ki);
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| 42 | |||
| 43 | // // int forward = 15;
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| 44 | // int speedL = global->rpmForward[constants::DiWheelDrive::LEFT_WHEEL] - correctionSpeed;
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| 45 | // int speedR = global->rpmForward[constants::DiWheelDrive::RIGHT_WHEEL] + correctionSpeed;
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| 46 | |||
| 47 | // // if (l_speed )
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| 48 | |||
| 49 | // rpmFuzzyCtrl[constants::DiWheelDrive::LEFT_WHEEL] = speedL;
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| 50 | // rpmFuzzyCtrl[constants::DiWheelDrive::RIGHT_WHEEL] = speedR;
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| 51 | |||
| 52 | // chprintf((BaseSequentialStream*) &SD1, "Speed L: %d, R: %d\n", speedL, speedR);
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| 53 | |||
| 54 | // }
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| 55 | |||
| 56 | |||
| 57 | void LineFollow::stableFollow(int vcnl4020Proximity[4], int (&rpmFuzzyCtrl)[2], Global *global){ |
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| 58 | int targetSensor = 0x38; |
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| 59 | int actualSensorL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] >> 8; |
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| 60 | int actualSensorR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] >> 8; |
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| 61 | int targetSpeedL = global->rpmForward[constants::DiWheelDrive::LEFT_WHEEL];
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| 62 | int targetSpeedR = global->rpmForward[constants::DiWheelDrive::RIGHT_WHEEL];
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| 63 | |||
| 64 | int error = targetSensor - (actualSensorL + actualSensorR);
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| 65 | |||
| 66 | accSum += error; |
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| 67 | int dTerm = error - oldError;
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| 68 | |||
| 69 | int correctionSpeed = (int) (Kp * error + Ki * accSum + Kd * dTerm); |
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| 70 | chprintf((BaseSequentialStream*) &SD1, "Correction Speed: %d\n", correctionSpeed);
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| 71 | rpmFuzzyCtrl[constants::DiWheelDrive::LEFT_WHEEL] = targetSpeedL + correctionSpeed; |
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| 72 | rpmFuzzyCtrl[constants::DiWheelDrive::RIGHT_WHEEL] = targetSpeedR - correctionSpeed; |
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| 73 | 2330e415 | Georg Alberding | |
| 74 | c76baf23 | Georg Alberding | } |
| 75 | 25388c2f | Georg Alberding | |
| 76 | |||
| 77 | // void LineFollow::followLineSeperateSensors2(int vcnl4020Proximity[4], int (&rpmFuzzyCtrl)[2], Global *global){
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| 78 | |||
| 79 | // chprintf((BaseSequentialStream*) &SD1, "SP: %d,\n", SetPoint);
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| 80 | // int targetSensorL = 0x10;
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| 81 | // int targetSensorR = 0x28;
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| 82 | |||
| 83 | // float actualSpeedL = 20;
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| 84 | // float actualSpeedR = 20;
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| 85 | |||
| 86 | // // if(actualSpeedL == 0){
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| 87 | // // actualSpeedL = 1;
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| 88 | // // }
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| 89 | // // if(actualSpeedR == 0){
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| 90 | // // actualSpeedR = 1;
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| 91 | // // }
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| 92 | |||
| 93 | // // Shift sensor values to prevent overflow in following calculation
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| 94 | // int actualSensorL = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] >> 8;
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| 95 | // int actualSensorR = vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT] >> 8;
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| 96 | // chprintf((BaseSequentialStream*) &SD1, "Sensor L: %d, R: %d\n", actualSensorL, actualSensorR);
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| 97 | |||
| 98 | // int targetSpeedL = global->rpmForward[constants::DiWheelDrive::LEFT_WHEEL];
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| 99 | // int targetSpeedR = global->rpmForward[constants::DiWheelDrive::RIGHT_WHEEL];
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| 100 | |||
| 101 | // int setPointL = targetSensorL;
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| 102 | // int setPointR = targetSensorR;
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| 103 | // chprintf((BaseSequentialStream*) &SD1, "SetPoint L: %d, R: %d\n",setPointL, setPointR );
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| 104 | |||
| 105 | // int processValueL = actualSensorL;
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| 106 | // int processValueR = actualSensorR;
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| 107 | // chprintf((BaseSequentialStream*) &SD1, "ProcessValue L: %d, R: %d\n",processValueL, processValueR );
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| 108 | |||
| 109 | // int errorL = setPointL - processValueL;
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| 110 | // int errorR = setPointR - processValueR;
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| 111 | |||
| 112 | // // This will howfully decrease the overall speed when sensors deviate much
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| 113 | // // errorL /= targetSensorL+actualSensorL;
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| 114 | // // errorR /= targetSensorR+actualSensorR;
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| 115 | // chprintf((BaseSequentialStream*) &SD1, "Error L: %d, R: %d\n",errorL, errorR);
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| 116 | |||
| 117 | // // int newSpeedL =
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| 118 | // rpmFuzzyCtrl[constants::DiWheelDrive::LEFT_WHEEL] = errorL;
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| 119 | // rpmFuzzyCtrl[constants::DiWheelDrive::RIGHT_WHEEL] = errorR;
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| 120 | |||
| 121 | // int correction_speedL = (int) (Kp * errorL);
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| 122 | // int correction_speedR = (int) (Kp * errorR);
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| 123 | // chprintf((BaseSequentialStream*) &SD1, "Speed L: %d, R: %d\n",correction_speedL, correction_speedR);
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| 124 | |||
| 125 | // // // chprintf((BaseSequentialStream*) &SD1, "After motor request SP: %f,\n", SetPoint);
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| 126 | // // // Process value
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| 127 | // // float processV = static_cast< float >((vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_LEFT] + vcnl4020Proximity[constants::DiWheelDrive::PROX_FRONT_RIGHT]));
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| 128 | // // // chprintf((BaseSequentialStream*) &SD1, "PV: %f,\n", processV);
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| 129 | // // // chprintf((BaseSequentialStream*) &SD1, "After PV SP: %f,\n", SetPoint);
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| 130 | // // float error = SetPoint - processV;
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| 131 | // // float d_term = old_error - error;
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| 132 | // // // chprintf((BaseSequentialStream*) &SD1, "After Error SP: %f,\n", SetPoint);
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| 133 | // // // chprintf((BaseSequentialStream*) &SD1, "Error: %f,\n", error);
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| 134 | // // acc_sum = 0.5 * acc_sum + error;
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| 135 | // // int new_speed = static_cast< int >(Kp * error + Ki*acc_sum + Kd*d_term);
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| 136 | // // old_error = error;
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| 137 | // // chprintf((BaseSequentialStream*) &SD1, "Error: %f,\n", error);
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| 138 | // // chprintf((BaseSequentialStream*) &SD1, "Dterm: %f,\n", d_term);
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| 139 | // // chprintf((BaseSequentialStream*) &SD1, "Iterm: %f,\n", acc_sum);
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| 140 | // // chprintf((BaseSequentialStream*) &SD1, "New Speed: %d,\n", new_speed);
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| 141 | // // // chprintf((BaseSequentialStream*) &SD1, "New Speed: %f, Sum: %f, SP: %f, processV: %f, K_p: %f, K_i: %f \n", new_speed, acc_sum, SetPoint, processV, Kp, Ki);
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| 142 | |||
| 143 | // // // int forward = 15;
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| 144 | // // // int l_speed = forward - new_speed;
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| 145 | // // // int r_speed = forward + new_speed;
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| 146 | |||
| 147 | // // // if (l_speed )
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| 148 | |||
| 149 | // rpmFuzzyCtrl[constants::DiWheelDrive::LEFT_WHEEL] = targetSpeedL + correction_speedL;
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| 150 | // rpmFuzzyCtrl[constants::DiWheelDrive::RIGHT_WHEEL] = targetSpeedR + correction_speedR;
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| 151 | |||
| 152 | // // chprintf((BaseSequentialStream*) &SD1, "Speed L: %d, R: %d\n", rpmFuzzyCtrl[constants::DiWheelDrive::LEFT_WHEEL], rpmFuzzyCtrl[constants::DiWheelDrive::RIGHT_WHEEL]);
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| 153 | |||
| 154 | // } |